Ultrasonic motors are motors that use piezoelectric ceramics to vibrate in the ultrasonic frequency domain and convert vibrational energy into mechanical energy. This new principle of motor structure is simple, can obtain low speed and large torque, and has the advantages of fast response speed and no magnetic noise, which has attracted the attention of academic and business circles. It has a wide application prospect in the fields of robots, micro-machines and medicine. The ring type traveling wave type ultrasonic motor uses a ring type piezoelectric ceramic to excite a traveling wave on the surface of the metal elastic body, and then pushes the rotation of the rotor pressed on the metal elastic body by means of friction. Among them, the ring-shaped piezoelectric ceramic and the toothed metal elastomer are bonded together with an epoxy resin, and are generally called a stator. The working principle is as follows. Due to the inverse piezoelectric effect of the piezoelectric ceramic, when the piezoelectric ceramic is subjected to a two-phase voltage with an ultrasonic frequency and a certain phase difference, traveling wave vibration is generated along the circumferential direction of the stator, when the traveling wave When passing through a point on the centerline of the stator, the point moves vertically, the frequency of which is the same as the amplitude and amplitude of the amplitude and traveling wave. However, due to the bending of the stator, the point away from the center line moves back and forth in the horizontal direction while performing the vertical motion, and as a result, the combined motion trajectory is an ellipse, thereby causing the stator surface particles to perform an elliptical motion. By means of the frictional force, the rotor in contact with it by applying a certain pre-pressure can be rotated against the direction of the wave. Therefore, whether the ring traveling wave ultrasonic motor can work normally depends first on whether the surface of the stator can excite a sufficient amplitude of traveling waves. Therefore, the modal analysis of the stator of the toroidal traveling wave ultrasonic motor is performed to determine the resonant frequency of the stator, so that the frequency of the applied power source is equal to the natural frequency of the stator to achieve the maximum electromechanical energy conversion, which is in the design of the ultrasonic motor. Secondly, by analyzing the modal of the stator containing piezoelectric ceramics, the vibration mode and coupling factor of the stator can be estimated; by comparing the calculation results of harmonic analysis with the measured results, a suitable damping coefficient can be found. Estimate the quality factor, the conductance and the displacement characteristics of the stator. Through transient analysis and contact analysis, the motion of the motor and the analysis of the contact interface can be known.
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